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How do IRX's communicate with one another? Say I have usbd.irx and another IRX which is a higher level communication protocol, how do they communicate?

I'm trying to make sense of a higher level IRX, but I know little to nothing about the PS2, but have plenty of experience with reverse engineering in arcade emulators and the such. Any tips much appreciated.

Irxs communicate with irxs just by functions calls. They get linked in with already loaded irxs when it is loaded. Look at the irx_imports file in the PS2SDK.